Automatic training data selection for sensorimotor primitives

Amy Larson, Richard Voyles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Sequencing sensorimotor primitives to achieve complex behaviors can simplify programming of robotic systems. Using programming by demonstration to code the component primitives can further simplify the process. Learning methods employed in programming by demonstration require comprehensive data sets, which place a significant burden on the user during demonstration. We present a generalized method whereby training sets can be automatically filtered, freeing the user from knowledge of the underlying learning method. We achieve this by first capturing the characteristic behavior for a demonstrated task, then determining a measure of distance from that behavior. With this information, data sets can be analyzed to determine whether a particular moment of demonstration is "good" and should be included in the final training set. Results from programming by demonstration of left wall-following on a mobile platform are presented. Additionally, we present a method for on-line performance analysis that takes advantage of the characteristic behavior identified in the filtering process.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages871-876
Number of pages6
Volume2
StatePublished - Dec 1 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

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